From ce3aa548f8ff91758bb3cf9959f50423a15eb7cd Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E7=99=BD=E5=87=A4=E5=90=89?= Date: Sat, 31 May 2025 13:16:24 +0800 Subject: [PATCH] =?UTF-8?q?=E8=B0=83=E6=95=B4=E5=B7=A5=E8=89=BA=E9=80=BB?= =?UTF-8?q?=E8=BE=91?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../gd/app/controller/CraftsController.java | 2 +- .../com/iflytop/gd/app/core/CraftsContext.java | 14 +--- .../iflytop/gd/app/model/dto/StartCraftsDTO.java | 3 - .../iflytop/gd/app/service/api/CraftsService.java | 90 +++++----------------- .../gd/app/service/crafts/CraftsStepService.java | 83 ++++++-------------- .../com/iflytop/gd/common/result/ResultCode.java | 6 +- 6 files changed, 46 insertions(+), 152 deletions(-) diff --git a/src/main/java/com/iflytop/gd/app/controller/CraftsController.java b/src/main/java/com/iflytop/gd/app/controller/CraftsController.java index 727a954..122c42d 100644 --- a/src/main/java/com/iflytop/gd/app/controller/CraftsController.java +++ b/src/main/java/com/iflytop/gd/app/controller/CraftsController.java @@ -86,7 +86,7 @@ public class CraftsController { @Operation(summary = "开始执行工艺") @PostMapping("/start") public Result startCrafts(@Valid @RequestBody StartCraftsDTO startCraftsDTO) { - return Result.success(craftsService.startCrafts(startCraftsDTO)); + return Result.success(craftsService.startCrafts(startCraftsDTO.getCraftId(), startCraftsDTO.getHeatId())); } @Operation(summary = "暂停执行工艺") diff --git a/src/main/java/com/iflytop/gd/app/core/CraftsContext.java b/src/main/java/com/iflytop/gd/app/core/CraftsContext.java index 547f3bd..fbb1451 100644 --- a/src/main/java/com/iflytop/gd/app/core/CraftsContext.java +++ b/src/main/java/com/iflytop/gd/app/core/CraftsContext.java @@ -2,12 +2,9 @@ package com.iflytop.gd.app.core; import cn.hutool.json.JSONUtil; import com.iflytop.gd.app.model.bo.CraftsStep; -import com.iflytop.gd.app.model.bo.status.device.CraftsState; -import com.iflytop.gd.app.model.bo.status.device.TrayState; import com.iflytop.gd.app.model.entity.Crafts; import com.iflytop.gd.app.model.entity.Ores; import com.iflytop.gd.app.service.crafts.CraftsStepService; -import com.iflytop.gd.app.service.device.DeviceStateService; import com.iflytop.gd.app.ws.server.WebSocketSender; import com.iflytop.gd.common.constant.WebSocketMessageType; import com.iflytop.gd.common.enums.HeatModuleCode; @@ -37,7 +34,6 @@ public class CraftsContext implements Runnable { private final StateMachine sm; private final WebSocketSender webSocketService; private final CraftsStepService craftsStepService; - private final DeviceStateService deviceStateService; private int currentIndex = 0; /** @@ -47,30 +43,23 @@ public class CraftsContext implements Runnable { Crafts craft, StateMachineFactory factory, WebSocketSender webSocketService, - CraftsStepService craftsStepService, - DeviceStateService deviceStateService) { + CraftsStepService craftsStepService) { this.heatModuleCode = heatModuleCode; this.ores = ores; this.craft = craft; this.craftsStepList = JSONUtil.parseArray(craft.getSteps()).toList(CraftsStep.class); this.webSocketService = webSocketService; this.craftsStepService = craftsStepService; - this.deviceStateService = deviceStateService; this.sm = factory.getStateMachine(heatModuleCode.toString()); sm.addStateListener(new StateMachineListenerAdapter<>() { @Override public void stateEntered(State state) { - CraftsState craftsState = deviceStateService.getDeviceState().getTrayStateByHeatModuleCode(heatModuleCode).getCrafts(); - craftsState.setState(state.getId()); - craftsState.setCurrentIndex(currentIndex); - Map dataMap = new HashMap<>(); dataMap.put("heatId", heatModuleCode); dataMap.put("state", state.getId()); dataMap.put("index", currentIndex); webSocketService.push(WebSocketMessageType.CRAFTS_STATE, dataMap); - } }); Mono.from(sm.startReactively()).block(); @@ -105,7 +94,6 @@ public class CraftsContext implements Runnable { } } if (sm.getState().getId() == CraftStates.RUNNING) { - craftsStepService.finish(heatModuleCode);//工艺执行完毕将托盘移动至加液模块 Message finishMsg = MessageBuilder.withPayload(CraftEvents.FINISH).build(); Mono.from(sm.sendEvent(Mono.just(finishMsg))).block(); } diff --git a/src/main/java/com/iflytop/gd/app/model/dto/StartCraftsDTO.java b/src/main/java/com/iflytop/gd/app/model/dto/StartCraftsDTO.java index ff44743..e1598ba 100644 --- a/src/main/java/com/iflytop/gd/app/model/dto/StartCraftsDTO.java +++ b/src/main/java/com/iflytop/gd/app/model/dto/StartCraftsDTO.java @@ -16,7 +16,4 @@ public class StartCraftsDTO { @Schema(description = "加热区id，非必填，如果不传递则自动分配加热区") private HeatModuleCode heatId; - - @Schema(description = "需要加液的试管") - private int[] tubes; } diff --git a/src/main/java/com/iflytop/gd/app/service/api/CraftsService.java b/src/main/java/com/iflytop/gd/app/service/api/CraftsService.java index 3b0c18a..5ce4131 100644 --- a/src/main/java/com/iflytop/gd/app/service/api/CraftsService.java +++ b/src/main/java/com/iflytop/gd/app/service/api/CraftsService.java @@ -4,17 +4,12 @@ import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper; import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl; import com.iflytop.gd.app.core.CraftsContext; import com.iflytop.gd.app.mapper.CraftsMapper; -import com.iflytop.gd.app.model.bo.status.device.CraftsState; import com.iflytop.gd.app.model.bo.status.device.HeatModuleState; -import com.iflytop.gd.app.model.bo.status.device.TrayState; -import com.iflytop.gd.app.model.bo.status.device.TubeState; -import com.iflytop.gd.app.model.dto.StartCraftsDTO; import com.iflytop.gd.app.model.entity.Crafts; import com.iflytop.gd.app.model.entity.Ores; import com.iflytop.gd.app.model.vo.CraftStatusVO; import com.iflytop.gd.app.model.vo.SetCraftsVO; import com.iflytop.gd.app.service.crafts.CraftsStepService; -import com.iflytop.gd.app.service.device.DeviceStateService; import com.iflytop.gd.app.service.device.module.HeatModuleService; import com.iflytop.gd.app.ws.server.WebSocketSender; import com.iflytop.gd.common.enums.HeatModuleCode; @@ -24,8 +19,6 @@ import com.iflytop.gd.common.exception.AppException; import com.iflytop.gd.common.result.ResultCode; import jakarta.annotation.PostConstruct; import lombok.RequiredArgsConstructor; -import lombok.extern.slf4j.Slf4j; -import org.springframework.beans.factory.ObjectProvider; import org.springframework.statemachine.config.StateMachineFactory; import org.springframework.stereotype.Service; @@ -40,7 +33,6 @@ import java.util.stream.Collectors; /** * 工艺接口服务 */ -@Slf4j @Service @RequiredArgsConstructor public class CraftsService extends ServiceImpl { @@ -49,14 +41,10 @@ public class CraftsService extends ServiceImpl { private final WebSocketSender webSocketService; private final CraftsStepService craftsStepService; private final OresService oresService; - private final DeviceStateService deviceStateService; - private final ObjectProvider craftsStateObjectProvider; - private final ConcurrentHashMap contextMap = new ConcurrentHashMap<>(); private final ConcurrentHashMap> futureMap = new ConcurrentHashMap<>(); private ExecutorService executor; - @PostConstruct public void init() { this.executor = Executors.newCachedThreadPool(); @@ -98,48 +86,40 @@ public class CraftsService extends ServiceImpl { /** * 启动执行工艺 */ - public synchronized SetCraftsVO startCrafts(StartCraftsDTO startCraftsDTO) { - long craftId = startCraftsDTO.getCraftId(); - HeatModuleCode heatModuleCode = startCraftsDTO.getHeatId(); + public synchronized SetCraftsVO startCrafts(Long craftId, HeatModuleCode heatModuleCode) { Crafts craft = this.getById(craftId); - if (craft == null) { + if(craft == null) { throw new AppException(ResultCode.INVALID_PARAMETER); } Ores ores = oresService.getById(craft.getOresId()); - if (ores == null) { + if(ores == null) { throw new AppException(ResultCode.INVALID_PARAMETER); } - if (deviceStateService.getDeviceState().getSolutionModule().getTrayStatus() == 0) { - throw new AppException(ResultCode.SOLUTION_MODULE_NO_TRAY); - } //判断是否指定加热区id if (heatModuleCode == null) { //如果没有指定加热区id，则自动获取一个 HeatModuleState heatModuleState = heatModuleService.getIdleHeatModule(); - if (heatModuleState == null) { - log.error("自动分配工艺失败，无空闲加热模块。"); + if(heatModuleState == null){ throw new AppException(ResultCode.HEAT_MODULE_NO_IDLE); - } else { + }else{ heatModuleCode = heatModuleState.getModuleCode(); } - } else { -// if (futureMap.containsKey(heatModuleCode)) {//校验指定加热模块是否正在执行工艺 -// log.error("工艺正在执行中，不可重复开始执行。"); -// throw new AppException(ResultCode.CRAFT_RUNNING); -// } + }else{ + if (futureMap.containsKey(heatModuleCode)) {//校验指定加热模块是否正在执行工艺 + throw new AppException(ResultCode.CRAFT_RUNNING); + } } - log.info("准备开始工艺，加热模块{},工艺{}", heatModuleCode, craft.getName()); //TODO 传感器校验heatModuleCode是否被占用 // 校验已有上下文状态，仅允许在 READY、STOPPED 或 FINISHED 状态下重置 -// CraftsContext existing = contextMap.get(heatModuleCode); -// if (existing != null) { -// CraftStates state = existing.getSm().getState().getId(); -// if (state == CraftStates.RUNNING || state == CraftStates.PAUSED) { -// throw new AppException(ResultCode.CRAFT_RUNNING); -// } -// clearCraftContext(heatModuleCode); -// } + CraftsContext existing = contextMap.get(heatModuleCode); + if (existing != null) { + CraftStates state = existing.getSm().getState().getId(); + if (state == CraftStates.RUNNING || state == CraftStates.PAUSED) { + throw new AppException(ResultCode.CRAFT_RUNNING); + } + clearCraftContext(heatModuleCode); + } CraftsContext ctx = new CraftsContext( heatModuleCode, @@ -147,33 +127,12 @@ public class CraftsService extends ServiceImpl { craft, stateMachineFactory, webSocketService, - craftsStepService, - deviceStateService + craftsStepService ); contextMap.put(heatModuleCode, ctx); Future future = executor.submit(ctx); futureMap.put(heatModuleCode, future); - TrayState trayState = deviceStateService.getDeviceState().getTrayInSolutionModule(); - //配置可操作试管 - TubeState[] tubeStateArr = trayState.getTubes(); - List needTubeNumArr = Arrays.stream(startCraftsDTO.getTubes()).boxed() .toList(); - for (TubeState tubeState : tubeStateArr) { - if(!needTubeNumArr.contains(tubeState.getTubeNum())){ - tubeState.setNeedAddSolution(false); - } - } - - //配置状态 - CraftsState craftsState = craftsStateObjectProvider.getObject(); - craftsState.setCraft(craft); - craftsState.setOres(ores); - craftsState.setState(CraftStates.READY); - craftsState.setCurrentIndex(0); - trayState.setHeatModuleId(heatModuleCode); - trayState.setCrafts(craftsState); - - //组装返回值 SetCraftsVO setCraftsVO = new SetCraftsVO(); setCraftsVO.setHeatId(heatModuleCode); setCraftsVO.setCraftsName(craft.getName()); @@ -219,19 +178,6 @@ public class CraftsService extends ServiceImpl { } /** - * 停止执行所有工艺，不清除上下文 - */ - public synchronized void stopAllCrafts() { - contextMap.forEach((key, ctx) -> { - Future future = futureMap.remove(key); - if (ctx != null && future != null) { - ctx.stop(); - future.cancel(true); - } - }); - } - - /** * 清理指定 heatId 的执行上下文和 Future */ public synchronized void clearCraftContext(HeatModuleCode heatModuleCode) { diff --git a/src/main/java/com/iflytop/gd/app/service/crafts/CraftsStepService.java b/src/main/java/com/iflytop/gd/app/service/crafts/CraftsStepService.java index f6dd6f7..524ec6f 100644 --- a/src/main/java/com/iflytop/gd/app/service/crafts/CraftsStepService.java +++ b/src/main/java/com/iflytop/gd/app/service/crafts/CraftsStepService.java @@ -5,21 +5,20 @@ import cn.hutool.json.JSONObject; import com.iflytop.gd.app.core.CraftsDebugGenerator; import com.iflytop.gd.app.model.bo.CraftsStep; import com.iflytop.gd.app.model.bo.Point3D; -import com.iflytop.gd.app.model.entity.Container; import com.iflytop.gd.app.service.api.ContainerService; import com.iflytop.gd.app.service.api.DevicePositionService; import com.iflytop.gd.app.service.device.DeviceCommandTempUtilService; import com.iflytop.gd.app.service.device.DeviceStateService; -import com.iflytop.gd.app.service.device.module.*; +import com.iflytop.gd.app.service.device.module.CapModuleService; +import com.iflytop.gd.app.service.device.module.GantryModuleService; +import com.iflytop.gd.app.service.device.module.HeatModuleService; +import com.iflytop.gd.app.service.device.module.SolutionModuleService; import com.iflytop.gd.app.ws.server.WebSocketSender; -import com.iflytop.gd.common.command.CommandFuture; import com.iflytop.gd.common.enums.AcidPumpDeviceCode; import com.iflytop.gd.common.enums.HeatModuleCode; -import com.iflytop.gd.common.enums.HeatingType; import com.iflytop.gd.common.enums.data.DevicePositionCode; import com.iflytop.gd.common.exception.AppException; import com.iflytop.gd.common.result.ResultCode; -import com.iflytop.gd.common.utils.CommandUtil; import lombok.RequiredArgsConstructor; import lombok.extern.slf4j.Slf4j; import org.springframework.stereotype.Service; @@ -41,13 +40,12 @@ public class CraftsStepService { private final DevicePositionService devicePositionService; private final DeviceStateService deviceStateService; private final DeviceCommandTempUtilService deviceCommandTempUtilService; - private final OtherModuleService otherModuleService; /** * 执行单个工艺步骤 * * @param heatModuleCode 加热区 ID - * @param step 工艺步骤，包括 method 和 params + * @param step 工艺步骤，包括 method 和 params * @return true 表示执行成功，false 表示失败 */ public boolean executeStep(HeatModuleCode heatModuleCode, CraftsStep step) throws Exception { @@ -67,23 +65,7 @@ public class CraftsStepService { */ private boolean addLiquid(HeatModuleCode heatModuleCode, JSONObject params) throws Exception { //TODO 判断加液区是否有托盘，如果没有托盘的话，判断加热区是否有托盘，然后将其移动至加液区 - if((deviceStateService.getDeviceState().getSolutionModule().getTrayStatus() == 0 ) - && deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).getTrayStatus() == 0) { - throw new AppException(ResultCode.CRAFT_NO_TRAY); - } - if((deviceStateService.getDeviceState().getSolutionModule().getTrayStatus() == 0 ) - && deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).getTrayStatus() == 1) { - moveToSolutionModule(heatModuleCode); - } - - JSONArray tubeNums = params.getJSONArray("tubeNums"); - for (int i = 0; i < tubeNums.size(); i++) { - JSONObject tubeSol = tubeNums.getJSONObject(i); - Integer tubeNum = tubeSol.getInt("tubeNum"); - - } - - + moveToSolutionModule(heatModuleCode); JSONArray tubeSolList = params.getJSONArray("tubeSolList"); for (int i = 0; i < tubeSolList.size(); i++) { JSONObject tubeSol = tubeSolList.getJSONObject(i); @@ -93,15 +75,14 @@ public class CraftsStepService { JSONObject addLiquid = addLiquidList.getJSONObject(j); Long solId = addLiquid.getLong("solId"); Double volume = addLiquid.getDouble("volume"); - Container container = containerService.getContainerBySolutionId(solId); - if (container == null) { - throw new AppException(ResultCode.CONTAINER_NOT_FOUND);//未找到对应溶液容器 + AcidPumpDeviceCode acidPumpDevice = containerService.getPumpBySolutionId(solId); + if (acidPumpDevice == null) { + throw new AppException(ResultCode.CRAFT_CONTAINER_NOT_FOUND); } - AcidPumpDeviceCode acidPumpDevice = AcidPumpDeviceCode.valueOf(container.getPumpId());//泵 - int scale = container.getScale() == null ? 120 : container.getScale();//系数 + webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatModuleCode.toString(), "移动加液机械臂到指定试管", tubeNum)); solutionModuleService.dualRobotMovePoint(tubeNum);//移动加液机械臂到指定试管 - CommandFuture deviceCommandFuture = solutionModuleService.acidPumpMoveBy(acidPumpDevice, volume * ((double) scale /100));//添加溶液 - CommandUtil.wait(deviceCommandFuture); + webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatModuleCode.toString(), "添加溶液", addLiquid)); + solutionModuleService.acidPumpMoveBy(acidPumpDevice, volume);//添加溶液 } } solutionModuleService.dualRobotOrigin(); @@ -133,15 +114,8 @@ public class CraftsStepService { Double temperature = params.getDouble("temperature"); Integer second = params.getInt("second"); heatModuleService.heatRodOpen(heatModuleCode, temperature);//开始加热 - deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setHeatingType(HeatingType.thermostatic); - //达到目标温度后才算开始加热 - while (deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).getTemperature() + 1 < temperature) { - delay(1); - } - deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setHeatingType(HeatingType.constant); delay(second); heatModuleService.heatRodClose(heatModuleCode);//停止加热 - deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setHeatingType(HeatingType.finish); heatModuleService.heaterMotorMove(heatModuleCode, trayLift);//抬升加热位托盘 return true; } @@ -175,15 +149,6 @@ public class CraftsStepService { } /** - * 工艺执行完毕 - */ - public void finish(HeatModuleCode heatModuleCode) throws Exception { - moveToSolutionModule(heatModuleCode); - //蜂鸣器提示 -// otherModuleService.craftsFinishBeepRemind(); - } - - /** * 将托盘移至加热 */ private void moveToHeatModule(HeatModuleCode heatModuleCode) throws Exception { @@ -204,30 +169,29 @@ public class CraftsStepService { Point3D heatAreaCapClawPointPoint3D = heatModuleService.getHeatAreaCapClawPointPoint3D(heatModuleCode);//获取指定加热模块拍子上方点位 Point3D capStorageCapClawPoint3D = devicePositionService.getPosition(DevicePositionCode.capStorageCapClawPoint).getPoint3D();//获取拍子存放区上方点位; - capModuleService.capUpBalanceNoWait();//提升拍子存放区至拍子夹取的高度 gantryModuleService.gantryMove(liquidAreaTrayPoint3D); //将机械臂移动至加液模块上方 gantryModuleService.clawMove(clawTrayPick);//将夹爪打开，准备夹取托盘 gantryModuleService.gantryZMove(solutionModuleTrayMoveHeight);//下降z轴,使夹爪落入托盘孔位 gantryModuleService.clawMove(clawTrayGrip);//将夹爪收紧，夹住托盘 gantryModuleService.gantryZMove(0);//抬升z轴 deviceStateService.getDeviceState().getSolutionModule().setTrayStatus(0);//加液模块是否有托盘 -// deviceCommandTempUtilService.moveTrayHeatModuleAvoidDown(null);//TODO 结构有问题临时避让 开始，移动托盘之前先降下所有加热模块 + deviceCommandTempUtilService.moveTrayHeatModuleAvoidDown(null);//TODO 结构有问题临时避让 开始，移动托盘之前先降下所有加热模块 gantryModuleService.gantryMove(heatArea4TrayClawPoint3D);//将携带托盘的机械臂移动至4号加热模块上方 gantryModuleService.gantryMove(heatAreaTrayClawPoint3D);//将携带托盘的机械臂移动至加热模块上方 // deviceCommandUtilService.heaterMotorMove( heatModuleId, trayLift);//抬升加热位托盘 TODO 结构有问题临时避让 屏蔽 - deviceCommandTempUtilService.moveTrayHeatModuleAvoidUpNoWait(heatModuleCode);Thread.sleep(3200);//TODO 结构有问题临时避让 完毕，可以升起了，顺带提升目标加热模块 + deviceCommandTempUtilService.moveTrayHeatModuleAvoidUp(heatModuleCode);//TODO 结构有问题临时避让 完毕，可以升起了，顺带提升目标加热模块 gantryModuleService.gantryZMove(heatModuleTrayMoveHeight);//下降z轴,使托盘落入加热模块 gantryModuleService.clawMove(clawTrayPick);//将夹爪打开，释放托盘 deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayStatus(1);//加热模块是否存在托盘 gantryModuleService.gantryZMove(0);//抬升z轴 + capModuleService.capUpBalance();//提升拍子存放区至拍子夹取的高度 gantryModuleService.gantryMove(capStorageCapClawPoint3D);//移动机械臂至拍子存放区上方 gantryModuleService.clawMove(clawCapPick);//将夹爪打开，准备夹取拍子 gantryModuleService.gantryZMove(capModuleCapMoveHeight);//下降z轴,使夹爪落入拍子升降模块拍子孔位 gantryModuleService.clawMove(clawCapGrip);//将夹爪收紧，夹住拍子 gantryModuleService.gantryZMove(0);//抬升z轴 gantryModuleService.gantryMove(heatAreaCapClawPointPoint3D);//将携带拍子的机械臂移动至加热模块拍子上方 - capModuleService.capUpBalanceNoWait(); //提升拍子存放区 gantryModuleService.gantryZMove(heatModuleCapMoveHeight);//下降z轴,使夹拍子落入加热模块 gantryModuleService.clawMove(clawCapPick);//将夹爪打开，释放拍子 deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setCapExist(true);//加热模块是否存在拍子 @@ -236,8 +200,11 @@ public class CraftsStepService { // trayState.setInHeatModule(true); heatModuleService.heaterMotorMove(heatModuleCode, trayLower);//下降加热模块托盘 deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayUp(0);//加热模块托盘升降状态 + capModuleService.capUpBalance(); //提升拍子存放区 gantryModuleService.gantryMove(capStorageCapClawPoint3D);//移动机械臂至拍子存放区上方 + heatModuleService.heaterMotorMove(heatModuleCode, trayLower);//下降加热位托盘 + deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayStatus(1); solutionModuleService.releaseSolutionModule();//释放加液区 } @@ -265,15 +232,15 @@ public class CraftsStepService { // TrayState trayState = deviceStateService.getTrayInSolutionModule(); solutionModuleService.requestSolutionModule();//申请使用加液区并等待 - capModuleService.capUpBalanceNoWait(); //提升拍子存放区至拍子夹取的高度 + capModuleService.capUpBalance(); //提升拍子存放区至拍子夹取的高度 gantryModuleService.gantryMove(heatAreaCapClawPointPoint3D);//将机械臂移动至加热模块拍子上方 heatModuleService.heaterMotorMove(heatModuleCode, trayLift);//抬升指定加热位托盘 gantryModuleService.clawMove(clawCapPick);//将夹爪打开，准备夹取拍子 gantryModuleService.gantryZMove(heatModuleCapMoveHeight);//下降z轴,使夹爪落入加热模块拍子孔位 gantryModuleService.clawMove(clawCapGrip);//将夹爪收紧，夹住拍子 deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setCapExist(false);//加热模块是否存在拍子 - capModuleService.capMotorMoveByNumNoWait(-1);//拍子存放模块下降1个拍子位置 - gantryModuleService.gantryZMove(0); Thread.sleep(2000);//抬升z轴 + gantryModuleService.gantryZMove(0);//抬升z轴 + capModuleService.capMotorMoveByNum(-1);//拍子存放模块下降1个拍子位置 gantryModuleService.gantryMove(capStorageCapClawPoint3D);//将携带拍子的机械臂移动至存放区上方 gantryModuleService.gantryZMove(capModuleCapMoveHeight);//下降z轴,使夹拍子落入存放区 gantryModuleService.clawMove(clawCapPick);//将夹爪打开，释放夹取的拍子 @@ -286,16 +253,16 @@ public class CraftsStepService { gantryModuleService.clawMove(clawTrayGrip);//将夹爪收紧，夹住托盘 deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayStatus(0);//加热模块是否存在托盘 // trayState.setInHeatModule(false);//托盘是否在加热模块中 - deviceCommandTempUtilService.moveTrayHeatModuleAvoidDownNoWait(heatModuleCode);//TODO 临时避让下降 - gantryModuleService.gantryZMove(0);Thread.sleep(2500);//抬升z轴 + gantryModuleService.gantryZMove(0);//抬升z轴 // deviceCommandUtilService.heaterMotorMove( heatModuleId, trayLower);//下降加热模块托盘 // deviceStateService.setHeatModuleStateTrayUp(heatModuleId, 0);//加热模块托盘升降状态 + deviceCommandTempUtilService.moveTrayHeatModuleAvoidDown(heatModuleCode);//TODO 临时避让下降 gantryModuleService.gantryMove(heatArea4TrayClawPoint3D);//将携带托盘的机械臂移动至4号加热模块上方 gantryModuleService.gantryMove(liquidAreaTrayPoint3D); //将携带托盘的机械臂移动至加液模块上方 - deviceCommandTempUtilService.moveTrayHeatModuleAvoidUp(null, heatModuleCode);//TODO 临时避 恢复抬起状态 + deviceCommandTempUtilService.moveTrayHeatModuleAvoidDown(null);//TODO 临时避 恢复抬起状态 gantryModuleService.gantryZMove(solutionModuleTrayMoveHeight);//下降z轴,使托盘落入加液模块 // trayState.setInSolutionModule(true);//托盘是否在加液模块中 - deviceStateService.getDeviceState().getSolutionModule().setTrayStatus(1);//加液模块是否存在托盘 + deviceStateService.getDeviceState().getHeatModuleByCode(heatModuleCode).setTrayStatus(1);//加液模块是否存在托盘 gantryModuleService.clawMove(clawTrayPick);//将夹爪打开，释放托盘 gantryModuleService.gantryZMove(0);//抬升z轴 gantryModuleService.gantryMove(capStorageCapClawPoint3D);//移动机械臂至拍子存放区上方 diff --git a/src/main/java/com/iflytop/gd/common/result/ResultCode.java b/src/main/java/com/iflytop/gd/common/result/ResultCode.java index ea1fa13..368f5dc 100644 --- a/src/main/java/com/iflytop/gd/common/result/ResultCode.java +++ b/src/main/java/com/iflytop/gd/common/result/ResultCode.java @@ -37,11 +37,9 @@ public enum ResultCode implements IResultCode, Serializable { OPERATION_NOT_ALLOWED("4003", "业务操作不允许"), DATA_ALREADY_EXISTS("4004", "数据已存在"), - CONTAINER_NOT_FOUND("4005", "未找到对应溶液容器"), - CRAFT_RUNNING("4101", "工艺正在执行"), CRAFT_CONTEXT_NULL("4102", "请先配置该加热区工艺"), - CRAFT_NO_TRAY("4005", "工艺未找到托盘"), + CRAFT_CONTAINER_NOT_FOUND("4005", "工艺未找到对应溶液容器"), //============================ 5xxx：系统 & 第三方 ============================ SYSTEM_ERROR("5000", "系统内部错误"), SERVICE_UNAVAILABLE("5001", "服务暂不可用"), @@ -59,8 +57,6 @@ public enum ResultCode implements IResultCode, Serializable { CAP_LIFT_ERROR("6024", "拍子升降错误"), CMD_BUSY("6025", "设备忙，请稍后"), HEAT_MODULE_NO_IDLE("6026", "加热模块无空闲"), - CAP_MODULE_NO_CAP("6027", "拍子存放区未检测到拍子"), - SOLUTION_MODULE_OCCUPIED("6028", "加液模块被占用"), ; /** 状态码 */ private final String code;